Package angleMeasurement

Class AngleDataUnit

java.lang.Object

PamguardMVC.PamDataUnit

angleMeasurement.AngleDataUnit

All Implemented Interfaces:

Comparable

public class AngleDataUnit
extends PamDataUnit

Data unit for storing angular information, often used to store data from imu intruments (inertial measurement unit) and heading data from compass sensors. (Wiki) An inertial measurement unit, or IMU, is an electronic device that measures and reports on a craft's velocity, orientation, and gravitational forces, using a combination of accelerometers and gyroscopes, sometimes also magnetometers In PAMGUARD the convention for angles is as follows:

Bearing- 0==north, 90==east 180=south, 270==west

Pitch- 90=-g, 0=0g, -90=g

Tilt 0->180 -camera turning towards left to upside down 0->-180 camera turning right to upside down

All angles are in RADIANS.

Author:

Douglas Gillespie modified by Jamie Macaulay

Constructor Summary

Constructors

Constructor	Description
AngleDataUnit(long timeMilliseconds, double rawAngle, double calibratedAngle, double correctedAngle)	Constructor for heading data: Primarily used in AngleMeasurment module
AngleDataUnit(long timeMilliseconds, Double[] IMU)	Constructor for IMU angle data.
AngleDataUnit(long timeMilliseconds, Double[] IMU, Double[] errors)	Constructor for IMU angle data.

Method Summary

Modifier and Type	Method	Description
Double	getCalPitch()
Double	getCalTilt()
Double	getCalTrueHeading()
Double	getErrorHeading()
Double	getErrorPitch()
Double	getErrorTilt()
Boolean	getHeld()
int	getNUnits()
Double	getPitch()
Double	getRawAngle()
Double	getTilt()
Double	getTrueHeading()
void	setCalPitch(Double calPitch)
void	setCalTilt(Double calTilt)
void	setCalTrueHeading(Double calTrueHeading)
void	setErrorHeadings(Double errorHeadings)
void	setErrorPitch(Double errorPitch)
void	setErrorTilt(Double errorTilt)
void	setHeld(Boolean held)
void	setNUnits(int nUnits)
void	setPitch(Double pitch)
void	setRawAngle(Double rawAngle)
void	setTilt(Double tilt)
void	setTrueHeading(Double trueHeading)

Methods inherited from class PamguardMVC.PamDataUnit

addDataAnnotation, addSuperDetection, amplifyMeasuredAmplitudeByDB, amplifyMeasuredAmplitudeByLinear, calcSnapshotGeometry, clearOandAngles, clearUpdateCount, compareTo, findDataAnnotation, findDataAnnotation, freeData, getAbsBlockIndex, getAmplitudeDB, getAnnotationsSummaryString, getBasicData, getCalculatedAmlitudeDB, getChannelBitmap, getColourIndex, getDataAnnotation, getDatabaseIndex, getDatabaseUpdateOf, getDataUnitFileInformation, getDataUnitPopupMenu, getDurationInMilliseconds, getEndTimeInMilliseconds, getFrequency, getFrequencyOverlap, getHydrophoneBitmap, getHydrophoneHeading, getLastChangeTime, getLastSample, getLastUpdateTime, getLocalisation, getMeasuredAmplitude, getMeasuredAmplitudeType, getNoiseBackground, getNumDataAnnotations, getOriginLatLong, getParentDataBlock, getSampleDuration, getSampleDurationAsInt, getSeconds, getSequenceBitmap, getSequenceBitmapObject, getSignalExcess, getSignalSPL, getSnapshotGeometry, getStartSample, getSummaryString, getSuperDetection, getSuperDetection, getSuperDetection, getSuperDetection, getSuperDetection, getSuperDetectionsCount, getSuperDetectionSyncronisation, getSuperId, getTimeDelaysSeconds, getTimeMilliseconds, getTimeNanoseconds, getTimeOverlap, getUID, getUpdateCount, isEmbryonic, isForceAmpRecalc, linAmplitudeToDB, removeDataAnnotation, removeDataAnnotation, removeSuperDetection, setAbsBlockIndex, setCalculatedAmlitudeDB, setChannelBitmap, setDatabaseIndex, setDatabaseUpdateOf, setDataUnitFileInformation, setDurationInMilliseconds, setEmbryonic, setForceAmpRecalc, setFrequency, setInfo, setLastUpdateTime, setLocalisation, setMeasuredAmpAndType, setMeasuredAmplitude, setMeasuredAmplitudeType, setNoiseBackground, setParentDataBlock, setSampleDuration, setSequenceBitmap, setSignalExcess, setSignalSPL, setSnapshotGeometry, setStartSample, setTimeDelaysSeconds, setTimeMilliseconds, setUID, setUniqueSuperDetection, sortOutputMaps, updateDataUnit

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AngleDataUnit

public AngleDataUnit(long timeMilliseconds,
 double rawAngle,
 double calibratedAngle,
 double correctedAngle)

Constructor for heading data: Primarily used in AngleMeasurment module

Data from an angle measurements
Angle data come in three stages.
1. Raw data as came out of the instrument
2. Calibrated data - the raw data after calibration, 0 degrees should be equal to 0 degrees in the calibrated data.
3. Correct raw data - the calibrated data - the set constant offset.

Parameters:

timeMilliseconds - - time in millis

rawAngle - - Raw data as came out of the instrument

calibratedAngle - -the raw data after calibration, 0 degrees should be equal to 0 degrees in the calibrated data.

correctedAngle - - the calibrated data - the set constant offset.

timeMilliseconds - - time in millis

AngleDataUnit

public AngleDataUnit(long timeMilliseconds,
 Double[] IMU)

Constructor for IMU angle data. Note that this assumes the calibration values are zero for each measurement (unless set afterwards)

Parameters:

timeMilliseconds - - the time of this measurment

IMU - - imuData heading, pitch and roll in radians.

AngleDataUnit

public AngleDataUnit(long timeMilliseconds,
 Double[] IMU,
 Double[] errors)

Constructor for IMU angle data. Note that this assumes the calibration values are zero for each measurement (unless set afterwards)

Parameters:

timeMilliseconds - - the time of this measurment

IMU - - imuData heading, pitch and tilt in radians.

IMU - Errors- error in the heading, pitch and tilt in radians.

Method Details

getRawAngle

public Double getRawAngle()

getHeld

public Boolean getHeld()

getTrueHeading

public Double getTrueHeading()

getPitch

public Double getPitch()

getTilt

public Double getTilt()

setRawAngle

public void setRawAngle(Double rawAngle)

setHeld

public void setHeld(Boolean held)

setTrueHeading

public void setTrueHeading(Double trueHeading)

setPitch

public void setPitch(Double pitch)

setTilt

public void setTilt(Double tilt)

getCalTrueHeading

public Double getCalTrueHeading()

getCalPitch

public Double getCalPitch()

getCalTilt

public Double getCalTilt()

setCalTrueHeading

public void setCalTrueHeading(Double calTrueHeading)

setCalPitch

public void setCalPitch(Double calPitch)

setCalTilt

public void setCalTilt(Double calTilt)

getErrorHeading

public Double getErrorHeading()

getErrorPitch

public Double getErrorPitch()

getErrorTilt

public Double getErrorTilt()

setErrorHeadings

public void setErrorHeadings(Double errorHeadings)

setErrorPitch

public void setErrorPitch(Double errorPitch)

setErrorTilt

public void setErrorTilt(Double errorTilt)

getNUnits

public int getNUnits()

setNUnits

public void setNUnits(int nUnits)